Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 - Manual (Page 375)

System Programs • System Program 26 - Emergency Return 353
Publication 1398-PM601A-EN-P — October 2000
APPENDIXES
System Program 26 - Emergency Return
This system program runs after an off to on transition of the Ereturn input, or by setting the system flag
ERET. This program is unique because a system STOP function is performed before running the pro-
gram (all motion programs and present motion are stopped). The default program below performs a
MOVP to the position defined in Parameters as the Emergency Return Position. Note: Home must be
defined before executing a MOVP.
This program location is useful for other applications because it allows the Ereturn input to automati-
cally stop present operation and run this program. Any program statements are allowed including
motion statements.
The ERETURN program is considered a motion program, so it cannot run in parallel with another
motion program. Other system programs such as Operator Terminal function key programs may run in
parallel with the ERETURN program.
When a program is compiled to save to the ULTRA Plus or IQ as the ERETURN program, the Compiler
Options must be set for Program type - “Main” and Add Debug Information - cleared (off). See Part 2 •
IQ Master Environment, for a complete description of compiler options.
Program Listing
;Source File Name: ERETURN.QPS
;Version: 3.00
;Tested with IQMaster Version: 3.00
;Tested with IQ firmware Version: 3.00
;------------------------------ Description ------------------------------
;This is the default ’Emergency Return’ program.
;This program is saved as System Program #26 in standard personality modules.
;The source is NOT saved in standard personality modules.
;
;This program executes by either activating the Emergency Return input or
;setting the system flag ERET. Any motion or programs will be aborted before
;this program is executed. The only action of this program is an absolute
;move to the position specified by the Emergency Return Position parameter.
;NOTE: Home position must be defined before using an absolute move.
;
;---------------------------- Variables used -----------------------------
;none
;-------------------------------- Inputs ---------------------------------
;Input 10 Emergency Return
;-------------------------------- Outputs --------------------------------
;none
;---------------- Optional Accessories Required/Supported ----------------
;none
;----------------------------- Begin Program -----------------------------
TITLE "Ereturn"
PGMTYPE = MAINPGM ;Set compiler options
DEBUG = OFF
MOVP=ERETPOS ;Move to the absolute position specified by the Emergency
; Return Position parameter at the default velocity.
END